Evaluacion del sistema

alphase.append(self.input1[i].alpha(x))

alphasd.append(self.input2[i].alpha(y))

for i in range(0, nE):

for i in range(0, nD):

for i in range(0, nE): # error

alphasin = list()

alphase = list() alphasd = list()

nc = len(auxreglas[0]) #outputs

nc = len(auxreglas[0]) # outputs

self.rules = rules

self.vn = 0

alphas = []

## **Acknowledgements**

The contributions of several students from Tecnologico de Monterrey, Mexico City Campus, are gratefully acknowledged, specially Kennet García Oviedo and Enrique Jiménez Vázquez. This work has been supported by School of Engineering and Sciences from Tecnologico de Monterrey.

## **Author details**

Edgar Omar López-Caudana\* and César Daniel González Gutiérrez

\*Address all correspondence to: edlopez@itesm.mx

Tecnológico de Monterrey, Campus Ciudad de México, Ciudad de México, México

## **References**


Workshop on Advanced Motion Control (AMC), Sarajevo, 25–27 March 2012, IEEE; 2012, pp. 1–8.

[10] R. Kurazume, S. Tanaka, M. Yamashita, T. Hasegawa, K. Yoneda, Straight legged walking of a biped robot, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2–6 Aug. 2005, IEEE; 2005, pp. 337–343.

**Acknowledgements**

190 Automation and Control Trends

Monterrey.

**Author details**

**References**

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5746.

SPIE Press, 2003.

Edgar Omar López-Caudana\*

\*Address all correspondence to: edlopez@itesm.mx

The contributions of several students from Tecnologico de Monterrey, Mexico City Campus, are gratefully acknowledged, specially Kennet García Oviedo and Enrique Jiménez Vázquez. This work has been supported by School of Engineering and Sciences from Tecnologico de

and César Daniel González Gutiérrez

Tecnológico de Monterrey, Campus Ciudad de México, Ciudad de México, México

[1] B. Siciliano, O. Khatib (Eds.), *Springer handbook of robotics*. Berlin: Springer, 2008.

[2] M. E. Rosheim, *Robot evolution: the development of anthrobotics*. New York, NY: Wiley, 1994.

[3] S. Behnke, Humanoid Robots—From Fiction to Reality, *KI‐Zeitschrift*, vol. 4, pp. 5–9,

[4] V. Bruce, A. W. Young, *In the eye of the beholder: the science of face perception*. Oxford,

[5] B. Adams, C. Breazeal, R. A. Brooks, B. Scassellati, Humanoid robots: a new kind of

[6] K. Sreenath, A. K. Sanyal, The reaction mass biped: equations of motion, hybrid model for walking and trajectory tracking control, 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 26–30 May 2015, IEEE; 2015, pp. 5741–

[7] Y. Bar-Cohen, C. L. Breazeal, *Biologically inspired intelligent robots*. Bellingham, WA, USA:

[8] D. Kastsian, E. Oertel, M. Monnigmann, Optimal parameters for stable walking of a compass-like biped robot, 2014 IEEE Conference on Control Applications (CCA), 8–10

[9] M. Yilmaz, U. Seven, K. C. Fidan, T. Akbas, K. Erbatur, Circular arc-shaped walking trajectory generation for bipedal humanoid robots, 2012 12th IEEE International

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## *Edited by Pedro Ponce, Arturo Molina Gutierrez and Luis M. Ibarra*

This book is an overview of the different paths automation and control engineering have taken lately, from a modern point of view. Built up with example chapters, this book provides some insight into the use of artificial intelligence and control theory on manufacturing, comfort analysis, reliability of modern digital systems, and the use of unusual reference and feedback signals as those coming from the brain. Nonetheless, some chapters are also devoted to a more traditional point of view of control theory, addressing complex problems where human intervention must be limited.

Automation and Control Trends

Automation

and Control Trends

*Edited by Pedro Ponce, Arturo Molina Gutierrez* 

*and Luis M. Ibarra*

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